extrinsic
-0.869991 0.0475553 0.490769 0.209823 
0.0032858 0.995875 -0.090675 0.267145 
-0.493057 -0.0772739 -0.866559 1.43983 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.279371 1.239371
